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NASA NTRS1994

A teleoperated system for remote site characterization

The detection and characterization of buried objects and materials is an important step in the restoration of burial sites containing chemical and radioactive waste materials at Department of Energy (DOE) and Department of Defense (DOD) facilities. By performing these tasks with remotely controlled sensors, it is possible to obtain improved data quality and consistency as well as enhanced safety for on-site workers. Therefore, the DOE Office of Technology Development and the US Army Environmental Center have jointly supported the development of the Remote Characterization System (RCS). One of the main components of the RCS is a small remotely driven survey vehicle that can transport various combinations of geophysical and radiological sensors. Currently implemented sensors include ground-penetrating radar, magnetometers, an electromagnetic induction sensor, and a sodium iodide radiation detector. The survey vehicle was constructed predominantly of non-metallic materials to minimize its effect on the operation of its geophysical sensors. The system operator controls the vehicle from a remote, truck-mounted, base station. Video images are transmitted to the base station by a radio link to give the operator necessary visual information. Vehicle control commands, tracking information, and sensor data are transmitted between the survey vehicle and the base station by means of a radio ethernet link. Precise vehicle tracking coordinates are provided by a differential Global Positioning System (GPS).

Sandness, Gerald A.↗
NASA NTRS1994

Operational support for Upper Atmosphere Research Satellite (UARS) attitude sensors

The Upper Atmosphere Research Satellite (UARS) has several sensors that can provide observations for attitude determination: star trackers, Sun sensors (gimbaled as well as fixed), magnetometers, Earth sensors, and gyroscopes. The accuracy of these observations is important for mission success. Analysts on the Flight Dynamics Facility (FDF) UARS Attitude task monitor these data to evaluate the performance of the sensors taking corrective action when appropriate. Monitoring activities range from examining the data during real-time passes to constructing long-term trend plots. Increasing residuals (differences) between the observed and expected quantities is a prime indicator of sensor problems. Residual increases may be due to alignment shifts and/or degradation in sensor output. Residuals from star tracker data revealed and anomalous behavior that contributes to attitude errors. Compensating for this behavior has significantly reduced the attitude errors. This paper discusses the methods used by the FDF UARS attitude task for maintenance of the attitude sensors, including short- and long-term monitoring, trend analysis, and calibration methods, and presents the results obtained through corrective action.

Lee, M.↗
NASA NTRS1994

Advantages of estimating rate corrections during dynamic propagation of spacecraft rates: Applications to real-time attitude determination of SAMPEX

This paper describes real-time attitude determination results for the Solar, Anomalous, and Magnetospheric Particle Explorer (SAMPEX), a gyroless spacecraft, using a Kalman filter/Euler equation approach denoted the real-time sequential filter (RTSF). The RTSF is an extended Kalman filter whose state vector includes the attitude quaternion and corrections to the rates, which are modeled as Markov processes with small time constants. The rate corrections impart a significant robustness to the RTSF against errors in modeling the environmental and control torques, as well as errors in the initial attitude and rates, while maintaining a small state vector. SAMPLEX flight data from various mission phases are used to demonstrate the robustness of the RTSF against a priori attitude and rate errors of up to 90 deg and 0.5 deg/sec, respectively, as well as a sensitivity of 0.0003 deg/sec in estimating rate corrections in torque computations. In contrast, it is shown that the RTSF attitude estimates without the rate corrections can degrade rapidly. RTSF advantages over single-frame attitude determination algorithms are also demonstrated through (1) substantial improvements in attitude solutions during sun-magnetic field coalignment and (2) magnetic-field-only attitude and rate estimation during the spacecraft's sun-acquisition mode. A robust magnetometer-only attitude-and-rate determination method is also developed to provide for the contingency when both sun data as well as a priori knowledge of the spacecraft state are unavailable. This method includes a deterministic algorithm used to initialize the RTSF with coarse estimates of the spacecraft attitude and rates. The combined algorithm has been found effective, yielding accuracies of 1.5 deg in attitude and 0.01 deg/sec in the rates and convergence times as little as 400 sec.

Challa, M. S.↗
NASA NTRS1994

MME-based attitude dynamics identification and estimation for SAMPEX

A method is described for obtaining optimal attitude estimation algorithms for spacecraft lacking attitude rate measurement devices (rate gyros), and then demonstrated using actual flight data from the Solar, Anomalous, and Magnetospheric Particle Explorer (SAMPEX) spacecraft. SAMPEX does not have on-board rate sensing, and relies on sun sensors and a three-axis magnetometer for attitude determination. Problems arise since typical attitude estimation is accomplished by filtering measurements of both attitude and attitude rates. Rates are nearly always sampled much more densely than are attitudes. Thus, the absence/loss of rate data normally reduces both the total amount of data available and the sampling density (in time) by a substantial fraction. As a result, the sensitivity of the estimates to model uncertainty and to measurement noise increases. In order to maintain accuracy in the attitude estimates, there is increased need for accurate models of the rotational dynamics. The proposed approach is based on the minimum model error (MME) optimal estimation strategy, which has been successfully applied to estimation of poorly modeled dynamic systems which are relatively sparsely and/or noisily measured. The MME estimates may be used to construct accurate models of the system dynamics (i.e. perform system model identification). Thus, an MME-based approach directly addresses the problems created by absence of attitude rate measurements.

Depena, Juan↗
NASA NTRS1994

Ferromagnetic resonance spectra of H2-reduced minerals and glasses

In an earlier paper, we reported that H2 reduction of basaltic glass, olivine, pyroxene, and plagioclase resulted in the formation of metallic iron, in the darkening and reddening of the reflectance spectra, and the masking of individual spectral features in the visible and near-IR. In this work, we report FMR spectra for H2-reduced minerals and glasses that include the samples studied in the earlier paper. The FMR spectra were reduced at room temperature at a nominal frequency of 9.5 GHz. Sample saturation magnetization reported as F3(0) was measured with a vibrating sample magnetometer.

Morris, Richard V.↗
NASA NTRS1993

VLF emissions in the Venus foreshock - Comparison with terrestrial observations

An examination is conducted of ELF/VLF emissions observed in the solar wind upstream of the Venus shock, for the 100 Hz-30 kHz range, using data from the Pioneer Venus Orbiter's electric field detector and magnetometer instruments. Detailed comparisons are made with terrestrial measurements for both the electron and ion foreshocks. The results obtained support the Crawford et al. (1990) identification of the Venus electron foreshock emissions as electron plasma oscillations, whose waves are generated in situ and act to isotropize the electron distributions.

Crawford, G. K.↗
NASA NTRS1994

Analysis of magnetic field data from Pioneer Venus orbiter

The subject grant (NAG 2-501) supported the analysis of magnetic field data from the Pioneer Venus orbiter for the period 10/1/87 to 9/30/94. During that period, 188 papers were contributed to scientific meetings that either analyzed the magnetometer data or used the data as part of the analysis of a scientific problem. Further, 107 papers were published in research journals and books. The magnetic moment of Venus was described. Venus was found to be essentially devoid of any intrinsic magnetic field. There was evidence though for the presence of lightning in the Venus atmosphere. The altitude distribution of impulsive signals in the night atmosphere was mapped and geographic clusters were found, most probably associated with local time ordering. A new means to create flux ropes in the ionosphere was postulated. On the nightside, ionospheric holes, ionospheric clouds, and tail rays were studied. The subsolar ionopause and the magnetic barrier were examined as was the altitude asymmetry of the ionopause, properties of the magnetosheath, and location of the bow shock upstream waves.

Russell, Christopher T.↗
NASA NTRS1992

ULF wave electric fields at synchronous orbit during substorms

Characteristics of the wave electric fields in the frequency range 3 to 22 mHz in the equatorial plane (on GEOS 2) during four substorms were investigated. During intervals of about ten min duration after the substorm onset, large electric fields appear at synchronous orbit. In particular, 3 to 4 spectral peaks in the wave electric field data can be discerned. The dominant models occur at approximately 6 and approximately 10 mHz. Additional peaks exist around 15 and 20 mHz. Although the sense of polarization of these modes varies, these modes tend to have right handed polarization with a typical ellipticity of 0.2. The major axis usually points to the east, lying at an angle of 0 to 50 deg with the azimuthal direction. Mapped into the ionosphere, this corresponds to a north-west orientation. New wave activity appears some 30 to 40 min after the onset lasting about 10 min. The wave properties of these events are relatively close to those events occurring near the substorm onset, except for the orientation angle of the major axis which is now 140 to 180 deg. Because the magnetometer data is not available, the generation mechanism of the waves studied is hard to identify. There is some evidence that these waves are a superposition of compressional waves, produced by the collapse of the magnetotail, and the field line resonances, triggered by these compressional waves.

Laakso, Harri↗
NASA NTRS1994

Potential aerospace applications of high temperature superconductors

The recent discovery of High Temperature Superconductors (HTS) with superconducting transition temperature, T(sub c), above the boiling point of liquid nitrogen has opened the door for using these materials in new and practical applications. These materials have zero resistance to electric current, have the capability of carrying large currents and as such have the potential to be used in high magnetic field applications. One of the space applications that can use superconductors is electromagnetic launch of payloads to low-earth-orbit. An electromagnetic gun-type launcher can be used in small payload systems that are launched at very high velocity, while sled-type magnetically levitated launcher can be used to launch larger payloads at smaller velocities. Both types of launchers are being studied by NASA and the aerospace industry. The use of superconductors will be essential in any of these types of launchers in order to produce the large magnetic fields required to obtain large thrust forces. Low Temperature Superconductor (LTS) technology is mature enough and can be easily integrated in such systems. As for the HTS, many leading companies are currently producing HTS coils and magnets that potentially can be mass-produced for these launchers. It seems that designing and building a small-scale electromagnetic launcher is the next logical step toward seriously considering this method for launching payloads into low-earth-orbit. A second potential application is the use of HTS to build sensitive portable devices for the use in Non Destructive Evaluation (NDE). Superconducting Quantum Interference Devices (SQUID's) are the most sensitive instruments for measuring changes in magnetic flux. By using HTS in SQUID's, one will be able to design a portable unit that uses liquid nitrogen or a cryocooler pump to explore the use of gradiometers or magnetometers to detect deep cracks or corrosion in structures. A third use is the replacement of Infra-Red (IR) sensor leads on Earth Orbit Systems (EOS) with HTS leads. IR detectors on these EOS missions are cooled to a 4.2K to improve their signal to noise ratio. They are connected to data acquisitions systems using manganin wires (low thermal conductors) to reduce the heat load on the cryogen. Replacing these wires with HTS leads will increase the lifetime of these missions by about 50 percent. This is a promising application that is ready for actual implementation on such systems. The analysis also show that an the number of IR detectors increase in larger EOS systems, substantial increase in the lifetime of each mission will be realized by using HTS leads instead of the manganin ones.

Selim, Raouf↗
NASA NTRS1995

An automated method of tuning an attitude estimator

Attitude determination is a major element of the operation and maintenance of a spacecraft. There are several existing methods of determining the attitude of a spacecraft. One of the most commonly used methods utilizes the Kalman filter to estimate the attitude of the spacecraft. Given an accurate model of a system and adequate observations, a Kalman filter can produce accurate estimates of the attitude. If the system model, filter parameters, or observations are inaccurate, the attitude estimates may be degraded. Therefore, it is advantageous to develop a method of automatically tuning the Kalman filter to produce the accurate estimates. In this paper, a three-axis attitude determination Kalman filter, which uses only magnetometer measurements, is developed and tested using real data. The appropriate filter parameters are found via the Process Noise Covariance Estimator (PNCE). The PNCE provides an optimal criterion for determining the best filter parameters.

Mason, Paul A. C.↗
NASA NTRS1995

An MME-based attitude estimator using vector observations

In this paper, an optimal batch estimator and filter based on the Minimum Model Error (MME) approach is developed for three-axis stabilized spacecraft. Three different MME algorithms are developed. The first algorithm estimates the attitude of a spacecraft using rate measurements. The second algorithm estimates the attitude without using rate measurements. The absence of rate data may be a result of intentional design or from unexpected failure of existing gyros. The third algorithm determines input-torque modeling error trajectories. All of the algorithms developed in this paper use attitude sensors (e.g., three-axis magnetometers, sun sensors, star trackers, etc.). Results using these new algorithms indicate that an MME-based approach accurately estimates the attitude, rate, and input torque trajectories of an actual spacecraft.

Crassidis, John L.↗
NASA NTRS1995

SAMPEX special pointing mode

A new pointing mode has been developed for the Solar, Anomalous, and Magnetospheric Particle Explorer (SAMPEX) spacecraft. This pointing mode orients the instrument boresights perpendicular to the field lines of the Earth's magnetic field in regions of low field strength and parallel to the field lines in regions of high field strength, to allow better characterization of heavy ions trapped by the field. The new mode uses magnetometer signals and is algorithmically simpler than the previous control mode, but it requires increased momentum wheel activity. It was conceived, designed, tested, coded, uplinked to the spacecraft, and activated in less than seven months.

Markley, F. Landis↗
NASA NTRS1995

Use of nonlinear identification in robust attitude and attitude rate estimation for SAMPEX

A method is described for obtaining optimal attitude estimation/identification algorithms for spacecraft lacking attitude rate measurement devices (rate gyros), and then demonstrated using actual flight data from the Solar, Anomalous, and Magnetospheric Particle Explorer (SAMPEX) spacecraft. SAMPEX does not have on-board rate sensing, and relies on sun sensors and a three-axis magnetometer for attitude determination. The absence of rate data normally reduces both the total amount of data available and the sampling density (in time) by a substantial fraction. In addition, attitude data is occasionally unavailable (for example, during sun occultation). As a result, the sensitivity of the estimates to model uncertainty and to measurement noise increases. In order to maintain accuracy in the attitude estimates, there is an increased need for accurate models of the rotational dynamics. The Minimum Model Error(MME)/Least Square Correlation(LSC) algorithm accurately identifies an improved model for SAMPEX to be used during periods of complete data loss or extreme noise. The model correction is determined by estimating only one orbit(the identification pass) just prior to the assumed data loss(the prediction pass). The MME estimator correctly predicted the states during the identification phase, but more importantly determines the necessary model correction trajectory, d(t). The LSC algorithm is then used to find this trajectory's functional form, H(x(t)). The results show significant improvement of the new corrected model's attitude estimates as compared to the original uncorrected model's estimates. The possible functional form of the correction term is limited at this point in the study to functions strictly of the estimated states. The results, however, strongly suggest that functions based on the relative position of the satellite may also be possible candidates for future consideration.

Mook, D. Joseph↗
NASA NTRS1995

A simple method for verifying the deployment of the TOMS-EP solar arrays

The Total Ozone Mapping Spectrometer-Earth Probe (TOMS-EP) mission relies upon a successful deployment of the spacecraft's solar arrays. Several methods of verification are being employed to ascertain the solar array deployment status, with each requiring differing amounts of data. This paper describes a robust attitude-independent verification method that utilizes telemetry from the coarse Sun sensors (CSS's) and the three-axis magnetometers (TAM's) to determine the solar array deployment status - and it can do so with only a few, not necessarily contiguous, points of data. The method developed assumes that the solar arrays are deployed. Telemetry data from the CSS and TAM are converted to the Sun and magnetic field vectors in spacecraft body coordinates, and the angle between them is calculated. Deployment is indicated if this angle is within a certain error tolerance of the angle between the reference Sun and magnetic field vectors. Although several other methods can indicate a non-deployed state, with this method there is a 70% confidence level in confirming deployment as well as a nearly 100% certainty in confirming a non-deployed state. In addition, the spacecraft attitude (which is not known during the first orbit after launch) is not needed for this algorithm because the angle between the Sun and magnetic field vectors is independent of the spacecraft attitude. This technique can be applied to any spacecraft with a TAM and with CSS's mounted on the solar array(s).

Koppersmith, James R.↗
NASA NTRS1994

Imaging the effect of dipole tilt on magetotail boundaries

Eight years of Interplanetary Monitoring Platform (IMP) 8, four years of International Sun Earth Explorer (ISEE) 2, and one year of IMP 7 magnetometer data have been combined to produce an 'image' of the average magnetic field for a YZ cross section (aberrated GSM) of the magnetotail at a downtail distance of 25 R(sub E). The shape of the neutral sheet and magnetopause boundaries can be observed directly from the images. A fitting function that qualitatively matches the observed boundary shape can then be chosen. This approach improves on previous fits to possible unsuitable functional forms specified independently of the data. In addition, as a refinement of previous studies, we have corrected for varying solar wind dynamic pressure and the effects of tail flaring. We find the magnetopause is displaced above the XY plane with increasing dipole tilt. The neutral sheet is found to curve slightly more than the model of Fairlfield (1980) during times of large dipole tilt and near the flanks appears to differ substantially from the neutral sheet shape given by the analytic model of Voigt (1984), the more recent neutral sheet model of Dandouras (1988) based on the Voigt model, and the semi-empirical model of Tsyganenko (1989).

Hammond, C. Max↗
NASA NTRS1994

Electromagnetic waves with frequencies near the local proton gyrofrequency: ISEE-3 1 AU observations

Low Frequency (LF) electromagnetic waves with periods near the local proton gyrofrequency have been detected in interplanetary space by the magnetometer onboard International-Sun-Earth-Explorer-3 (ISEE-3). Transverse peak-to-peak amplitudes as large as delta vector B/absolute value of B approximately 0.4 have been noted with compressional components (Delta absolute value of B/absolute value of B) typically less than or = 0.1. Generally, the waves have even smaller amplitudes, or are not detectable within the solar wind turbulence. The waves are elliptically/linearly polarized and are often, but not always, found to propagate nearly along vector B(sub zero). Both right- and left-hand polarizations in the spacecraft-frame have been detected. The waves are observed during all orientations of the interplanetary magnetic field, with the Parker spiral orientation being the most common case. Because the waves are detected at and near the local proton cyclotron frequency, the generation mechanism must almost certainly be solar wind pickup of freshly created hydrogen ions. Possible sources for the hydrogen are the Earth's atmosphere, coronal mass ejections from the Sun, comets and interstellar neutral atoms. At this time it is not obvious which potential source is the correct one. Statistical tests employing over one year of ISEE-3 data will be done in the near future to eliminate/confirm some of these possibilities.

Tsurutani, Bruce T.↗
NASA NTRS1994

Characteristics of the field-aligned current system in the nighttime sector during auroral substorms

Fujii et al. (1994) obtained characteristics of the electrodynamic parameters, that is, field-aligned currents, electric fields, and electron precipitation, which are associted with auroral substorm events in the nighttime sector, through a unique analysis that places the ionospheric measurements of these parameters into the context of a generic substorm determined from global auroral images. In this paper we investigate in considerably more detail the characteristics of the field-aligned currents using data from the same set of passes as the previuos study. We show for the first time that the net upward field-aligned currents throughout the surge and surge horn are sufficient to account for most if not all of the converging currents of the auroral electrojets. Current densities are largest in the surge and surge horn. Current region continuity does not appear to exist across the substorm bulge region. Much of the auroral substorm field-aligned current is composed of filamentary currents and finite current segments at large angles to each other. The westward electrojet may contain large gradients in intensity both in local time and latitude due to sets of localized field-aligned currents. The net downward current for several hours to the west of the surge is insufficient to account for the eastward electrojet, consistent with the concept that this electrojet originates primarily on the dayside. Our pattern of field-aligned currents associated with the surge has common features and also differs significantly from the patterns previously derived from data from radars and ground-based magnetometer arrays. Our pattern is considerably more complex, probably due to the much higher resolution in latitude of the satellite data. It is also larger in area, since our average substorm is much larger than those pertaining to the previous patterns, giving a substorm wedge considerably wider than that obtained from the radar and array data.

Hoffman, R. A.↗
NASA NTRS1994

Features of steady magnetospheric convection

The large-scale patterns of ionospheric convection and particle precipitation are described during two intervals of steady magnetospheric convection (SMC) on November 24, 1981. The unique data set used in the analysis includes recordings from the worldwide network of magnetometers and all-sky cameras, global auroral images from the Dynamics Explorer (DE) 1 spacecraft, and particle precipitation data from low-altitude National Oceanic and Atmospheric Administration (NOAA) 6 and NOAA 7 spacecraft. The data show that intense magnetospheric convection continued during more than 10 hours under the steady southward interplanetary magnetic field without any distinct substorm signatures. All data sets available confirmed the stable character of the large-scale magnetospheric configuration during this period. In particular, the magnetic flux threading the polar cap was stable (within 10%) during 3.5 hours of continued DE 1 observations. The dayside cusp was located at an unusually low latitude (70 deg CGL). The nightside auroral pattern consisted of two distinct regions. The diffuse aurora in the equatorward half of the expanded (10 deg wide) auroral oval was well-separated from the bright, active auroral forms found in the vicinity of the poleward boundary of the oval. The twin-vortex convection pattern had no signature of the Harang discontinuity; its nightside 'convection throat' was spatially coincident with the poleward active auroras. This region of the auroral oval was identified as the primary site of the short-lived transient activations during the SMC intervals. The energetic particle observations show that the auroral precipitation up to its high-latitude limit is on closed field lines and that particle acceleration up to greater than 30-keV energy starts close to this limit. The isotropic boundaries of the greater than 30-keV protons and electrons were found close to each other, separating regions of discrete and diffuse precipitation. This suggests that these precipitation types originate on the very taillike and very dipolelike field lines, respectively.

Yahnin, A.↗